@PHDTHESIS{Ferreau2011a,
  author = {H.J. Ferreau},
  title = {Model Predictive Control Algorithms for Applications with Millisecond Timescales},
  school = {K.U.\,Leuven},
  year = {2011},
  keywords = {model predictive control, numerical optimal control, dynamic optimisation, embedded optimisation, parametric quadratic programming, online active set strategy, infeasibility handling, real-time iteration algorithm, code generation, open-source software, qpOASES, ACADO Toolkit}
}